CN107684493A - A kind of cloud for wheelchair simulates intelligent barrier avoiding system - Google Patents
A kind of cloud for wheelchair simulates intelligent barrier avoiding system Download PDFInfo
- Publication number
- CN107684493A CN107684493A CN201710967437.6A CN201710967437A CN107684493A CN 107684493 A CN107684493 A CN 107684493A CN 201710967437 A CN201710967437 A CN 201710967437A CN 107684493 A CN107684493 A CN 107684493A
- Authority
- CN
- China
- Prior art keywords
- wheelchair
- cloud
- cloud processor
- camera
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/20—Displays or monitors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Software Systems (AREA)
- Veterinary Medicine (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Public Health (AREA)
- Geometry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Graphics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of cloud for wheelchair to simulate intelligent barrier avoiding system, including：Cloud processor, unmanned plane, wheelchair, the wheelchair includes processing unit, motor, the first camera, the unmanned plane includes cpu chip, camera, cloud processor and processing unit and cpu chip data syn-chronization, cloud processor includes three-dimensional live analog module, computing module, cloud processor judges whether that needs are commutated according to the distance of barrier in the three-dimensional live simulation drawing of generation and the size ratio of pre-determined distance, if then driving the motor controling wheelchair to commutate.Intelligent barrier avoiding system provided by the invention carries out barrier judgment and apart from calculating by processing of the cloud processor to three-dimensional live, the visual angle of analog subscriber first of high degree according to the first visual angle of simulation, so as to more effective avoidance.
Description
Technical field
The present invention relates to a kind of obstacle avoidance system, more particularly to a kind of cloud for wheelchair simulates intelligent barrier avoiding system.
Background technology
With the progress of social civilization, guarantee and the life matter for improving the disadvantaged group such as the elderly and physical disabilities
Amount has increasingly received the concern of society.Numerous studies show, effectively strengthen the ability to act of the elderly and physical disabilities,
Not only so that their daily life becomes convenient, and the mental health to them, self-assessment, the state of mind also have depth
Remote influence.Therefore, one kind provides convenient wheelchair of riding instead of walk for above-mentioned crowd and arisen at the historic moment.Traditional wheelchair be it is manual, by
People rotates handwheel and advanced, and this needs to expend a large amount of muscle power, is not suitable for the elderly and physical disabilities use.Nowadays there is Electric Motor Wheel
Chair, this electric wheelchair generally comprise car body, and front and back wheel, motor, control stick and motor driver, motor is by electric power storage
Pond powers, and driving trailing wheel advances, and the people being sitting on wheelchair only needs thumb-operated control stick, you can realize the advance of wheelchair, retreat with
And turn.For some self-care abilities are not good people, their the also bad operations of in general electric wheelchair, especially meeting
When to barrier, they possibly can not react in time.Even if in addition, many times in time react, but also can not and
When operation made to wheelchair wheelchair is avoided barrier.
The content of the invention
Goal of the invention：In view of the above-mentioned problems, the present invention, which provides a kind of cloud for wheelchair, simulates intelligent barrier avoiding system.
Technical scheme：
A kind of cloud for wheelchair simulates intelligent barrier avoiding system, including：Cloud processor, unmanned plane, wheelchair, the wheelchair include place
Manage device, motor, the first camera, the unmanned plane include cpu chip, camera, the cloud processor with it is described
Processing unit and the cpu chip data syn-chronization, first camera is used to shoot real-time imaging around wheelchair, and transmits
To the cloud processor, described four faces of camera are both provided with second camera, and the camera is used to shoot in real time
Streetscape, and the real-time street view is synchronized to the cloud processor, the cloud processor includes three-dimensional live analog module, calculated
Module, the three-dimensional live analog module are used for the image mould shot according to first camera and the second camera
The three-dimensional live in the wheelchair and the unmanned plane visual range is drawn up, the computing module calculates the wheelchair described in
The distance of barrier in three-dimensional live, the cloud processor are provided with the first pre-determined distance, when the cloud processor judges the wheel
When into the three-dimensional live, obstacle distance is not more than first pre-determined distance, the cloud processor fills chair to the processing
Synchronous communicating instruction is put, the processing unit sends commutation signal, the driving electricity according to commutation instruction to the motor
Machine drives wheelchair adjustment direction according to the commutation signal.
As a kind of preferred embodiment of the present invention, first camera shoots the positive real-time imaging of wheelchair, the CPU
Chip is by the image transmission to the cloud processor, and the three-dimensional live analog module is according to the real-time imaging and described
Second camera filmed image simulates the first visual angle of user visual pattern, and the cloud processor is according to first visual angle vision
Image judges whether front has barrier.
As a kind of preferred embodiment of the present invention, surpass when front of the object in the visual pattern of first visual angle stops
Preset time is crossed, then the cloud processor judges the object for stationary obstruction；When object is in the first visual angle vision figure
Movement exceedes preset time as in, then the cloud processor judges the object for moving obstacle.
As the present invention a kind of preferred embodiment, when the cloud processor judges the barrier for stationary obstruction,
The cloud processor instructs to the processing unit synchronous communicating, and the processing unit sends commutation letter to the motor
Number, the motor drives wheelchair to commutate according to the commutation signal.
As a kind of preferred embodiment of the present invention, the wheelchair front is additionally provided with the 3rd camera, when cloud processing
When device judges the barrier for moving obstacle, the processing unit controls the 3rd camera to lock the barrier simultaneously
Real-time imaging is absorbed, the cloud processor judges the moving direction of the moving obstacle, and the computing module calculates the shifting
Barrier is moved to the distance of the wheelchair, the cloud processor according to the real-time imaging, the moving direction, the distance to be sentenced
Whether break needs to send commutation signal under current state.
As a kind of preferred embodiment of the present invention, when the motor drives the wheelchair commutation, the cloud processing
Device simulates commutation circuit according to the three-dimensional live.
As a kind of preferred embodiment of the present invention, the cloud processor judges the wheelchair four according to the three-dimensional live figure
It whether there is unsafe condition in all scopes, if so, then sending Emergency avoidance instruction to the processing unit, the Emergency avoidance refers to
Make and instructed according to the Emergency avoidance to the motor for the first Priority Directive, the processing unit and send Emergency avoidance letter
Number, the motor controls the wheelchair to carry out Emergency avoidance according to Emergency avoidance signal.
As a kind of preferred embodiment of the present invention, the unmanned plane is shared unmanned plane, and the unmanned plane has positioner,
The positioner is used to position, and the cpu chip sends positioner positioning to the cloud processor.
As a kind of preferred embodiment of the present invention, the wheelchair is additionally provided with user port, and the cloud processor is by described in
Positioning sends to the user port, user and selects unmanned plane by user port.
As a kind of preferred embodiment of the present invention, the unmanned plane and the wheelchair are provided with wireless device, when it is described nobody
When machine reaches customer location, the unmanned plane is associated with the wheelchair by wireless device.
The present invention realizes following beneficial effect：
1. intelligent barrier avoiding system provided by the invention passes through processing of the cloud processor to three-dimensional live, the analog subscriber of high degree
First visual angle, and barrier judgment is carried out and apart from calculating according to the first visual angle of simulation, so as to more effective avoidance.
2. intelligent barrier avoiding system provided by the invention is not only to preceding object, moreover it is possible to which the unsafe condition at side and rear is entered
Row judges, and makes corresponding reply instruction, and wheelchair can be made to avoid the dangerous situation at side and rear.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.
Fig. 1 is the system framework figure of intelligent barrier avoiding system provided by the invention；
Fig. 2 is the schematic diagram of wheelchair in the present invention；
Fig. 3 is the schematic diagram of unmanned plane in the present invention；
Fig. 4 runs into system job step journey figure during stationary obstruction for wheelchair in the present invention；
Fig. 5 runs into system job step figure during moving obstacle for wheelchair in the present invention；
Fig. 6 is the judgement of Emergency avoidance and implementation steps figure in the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment one：
Reference chart is Fig. 1-5.A kind of cloud for wheelchair simulates intelligent barrier avoiding system, including：Cloud processor 1, unmanned plane 2, wheel
Chair 3, the wheelchair 3 include processing unit 4, motor 5, the first camera 6, and the unmanned plane 2 includes cpu chip 7, photography
Device 8, the cloud processor 1 and the processing unit 4 and the data syn-chronization of the cpu chip 7, first camera 6 are used
In the shooting surrounding real-time imaging of wheelchair 3, and transmit to the cloud processor 1, described 8 four faces of camera and be both provided with second
Camera 9, the camera 8 is used to shoot real-time street view, and the real-time street view is synchronized into the cloud processor 1, institute
Stating cloud processor 1 includes three-dimensional live analog module 10, computing module 11, and the three-dimensional live analog module 10 is used for according to institute
Stating the image simulation that the first camera 6 and the second camera 9 are shot, to go out the wheelchair 3 and the unmanned plane 2 visual
In the range of three-dimensional live, the computing module 11 calculates the distance of the barrier into the three-dimensional live of wheelchair 3, described
Cloud processor 1 is provided with the first pre-determined distance, when the cloud processor 1 judges the wheelchair 3 barrier into the three-dimensional live
When distance is not more than first pre-determined distance, the cloud processor 1 instructs to the synchronous communicating of processing unit 4, the place
Manage device 4 and commutation signal is sent to the motor 5 according to commutation instruction, the motor 5 is according to the commutation signal
Drive the adjustment direction of wheelchair 3.
First camera 6 shoots 3 positive real-time imaging of wheelchair, and the cpu chip 7 is by the image transmission to institute
Cloud processor 1 is stated, the three-dimensional live analog module 10 is according to the real-time imaging and the filmed image of the second camera 9
The first visual angle of user visual pattern is simulated, whether the cloud processor 1 judges front according to first visual angle visual pattern
There is barrier.
Exceed preset time when front of the object in the visual pattern of first visual angle stops, then the cloud processor
1 judges the object for stationary obstruction；When object, movement exceedes preset time in the visual pattern of first visual angle, then institute
Stating cloud processor 1 judges the object for moving obstacle.
When the cloud processor 1 judges the barrier for stationary obstruction, the cloud processor 1 fills to the processing
The instruction of 4 synchronous communicatings is put, the processing unit 4 sends commutation signal to the motor 5, and the motor 5 is according to institute
Commutation signal driving wheelchair 3 is stated to commutate.
The front of wheelchair 3 is additionally provided with the 3rd camera, when the cloud processor 1 judges that the barrier hinders to be mobile
When hindering thing, the processing unit 4 controls the 3rd camera to lock the barrier and absorbs real-time imaging, the cloud processing
Device 1 judges the moving direction of the moving obstacle, and the computing module 11 calculates the moving obstacle to the wheelchair 3
Distance, the cloud processor 1 according to the real-time imaging, the moving direction, the Distance Judgment under current state whether
Need to send commutation signal.
Specifically, the cloud processor 1 receives the reality of the first camera 6 and the second camera 9 shooting
When image when, image processing that first camera 6 is shot is longitudinal data face, the shadow that the second camera is shot
As being used as horizontal data surface, the three-dimensional live analog module 10 integrates life according to above-mentioned longitudinal data face and horizontal data surface
Into three-dimensional data layer, the three-dimensional data layer is the simulation of real-time three-dimensional outdoor scene, and the three-dimensional live of the simulation is the wheelchair 3
And the three-dimensional live in the visual range of the unmanned plane 2.It is noted that the image that first camera 6 is shot
For the positive real-time imaging of wheelchair, after the cloud processor 1 receives the positive real-time imaging of the wheelchair, with reference to the three-dimensional
Outdoor scene, simulate the visual pattern at the first visual angle of user.The cloud processor 1 is according to the object in front of the first visual angle described
The time occurred in first visual angle visual simulation image judges to whether there is barrier in front of wheelchair.It is it is noted that described
Barrier is divided into stationary obstruction and moving obstacle：
Exceed preset time when front of the object in the visual pattern of first visual angle stops, then the cloud processor 1 is sentenced
The object that breaks is stationary obstruction；When object, movement exceedes preset time in the visual pattern of first visual angle, described pre-
If the time is 3s, then the cloud processor 1 judges the object for moving obstacle.
As shown in figure 4, when the cloud processor 1 judges the barrier for stationary obstruction, the cloud processor 1
The stationary obstruction is judged whether in the course of the wheelchair according to the three-dimensional data layer, if so, the then calculating
The wheelchair 3 according to three-dimensional data layer of module 11 and the spacing distance of the data module of the barrier calculate the wheelchair 3
With the live actual distance of the barrier, there is the first pre-determined distance in the cloud processor 1, the pre-determined distance is 5m,
The cloud processor 1 judges to carry out the live actual distance that the computing module 11 is calculated and first pre-determined distance
Compare, if judging, the live actual distance is more than first pre-determined distance, and the cloud processor 1 does not make any finger
Order；When live actual distance no larger than first pre-determined distance, the cloud processor 1 is to the processing unit 4
Synchronous communicating instructs, and the processing unit 4 sends commutation signal, the drive according to the commutation instruction to the motor 5
Dynamic motor 5 drives the adjustment direction of wheelchair 3 according to the commutation signal.
As shown in figure 5, movement exceedes preset time, the preset time in the visual pattern of first visual angle when object
For 3s, then the cloud processor 1 judges the mobile object for moving obstacle, and the cloud processor 1 is to the processing unit 4
Genlocing instructs, and the processing unit 4 controls the 3rd camera to lock the moving obstacle and absorbs real-time imaging,
The cloud processor 1 is data Layer information real-time imaging processing, and the mobile barrier according to the data Layer information
Hinder the moving direction of the mobile judgement moving obstacle of thing information module, the cloud processor 1 judges the moving disorder
Whether the moving direction of thing is in the course of the wheelchair 3, if it is not, not making any instruction then；If so, the then calculating
Module 11 calculates the real-time most short actual range between the moving obstacle and the wheelchair 3, the cloud using the above method
Processor 1 judges whether the most short actual range in real time is more than the second pre-determined distance, and second pre-determined distance is 10m, if
It is that then the cloud processor 1 does not make any instruction；If it is not, then the cloud processor 1 is to the synchronous communicating of processing unit 4
Instruction, the processing unit 4 send commutation signal, the motor 5 according to the commutation instruction to the motor 5
The adjustment direction of wheelchair 3 is driven according to the commutation signal.
Above-mentioned cloud processor 1, all processing procedures of three-dimensional live analog module 10, computing module 11 are all according to number in real time
According to being handled.
Embodiment two：
Reference chart is Fig. 6.When the motor 5 drives the wheelchair 3 to commutate, the cloud processor 1 is according to the three-dimensional
Outdoor scene simulation commutation circuit.
The cloud processor 1 judges to whether there is dangerous shape in the range of the surrounding of wheelchair 3 according to the three-dimensional live figure
Condition, if so, then sending Emergency avoidance instruction to the processing unit 4, the Emergency avoidance instruction is the first Priority Directive, described
Processing unit 4 instructs to the motor 5 according to the Emergency avoidance and sends Emergency avoidance signal, the motor 5
The wheelchair 3 is controlled to carry out Emergency avoidance according to Emergency avoidance signal.
Specifically, the cloud processor 1 simulates the commutation route of the wheelchair 3, and judge to whether there is on the route
Obstacle, if so, then sending fine setting instruction to the processing unit 4, the processing unit 4 is instructed to the driving electricity according to fine setting
Machine 5 sends fine adjustment signal, and the motor 5 controls the fine setting on the travel direction of wheelchair 3 according to fine adjustment signal.
As shown in fig. 6, the real-time condition at wheelchair side and rear is also simulated in the three-dimensional live figure, at the cloud
Reason device 1 is judged with the presence or absence of mobile object in the three-dimensional live figure, if in the presence of the cloud processor 1 is according to above-mentioned side
Method judges the real-time mobile route of the mobile object whether in the course of the wheelchair 3, if the then calculating mould
Block 11 calculates the live actual distance of the mobile object and the wheelchair 3 according to the above method, and the cloud processor judges institute
State whether live actual distance is more than 10m, if otherwise the cloud processor 1 judges the mobile object for dangerous objects, and to
The processing unit 4 sends Emergency avoidance instruction, and the Emergency avoidance instruction is the first Priority Directive, priority level highest, institute
Processing unit 4 is stated to be instructed to the transmission Emergency avoidance signal of motor 5, the basis of motor 5 according to the Emergency avoidance
The Emergency avoidance signal controls the adjustment direction of wheelchair 3, carries out Emergency avoidance.
Embodiment three：
Reference chart is Fig. 2-3.The unmanned plane 2 is shared unmanned plane, and the unmanned plane 2 has positioner, the positioner
For positioning, the cpu chip 7 sends positioner positioning to the cloud processor 1.
：The wheelchair 3 is additionally provided with user port 12, and the cloud processor 1 sends the positioning to the user terminal
Mouth 12, user pass through user port 12 and select unmanned plane 2.
The unmanned plane 2 is provided with wireless device 13 with the wheelchair 3, described when the unmanned plane 2 reaches customer location
Unmanned plane 2 is associated with the wheelchair 3 by wireless device 13.
Specifically, positioning of the cloud processor according to the positioner 12 of the unmanned plane 2, by the unmanned plane 2
Position marks on the electronic map, and is synchronized to the processing unit 4, and the processing unit 4 will by the user port 12
The electronic map shows, user can select unmanned plane by the electronic map, and the cloud processor 1 is according to the choosing of user
Select to send corresponding unmanned plane and instruct, the unmanned plane moves according to instruction to active user position.When it is described nobody
When machine 2 reaches user position, the unmanned plane 2 is associated with the wheelchair 3 by wireless device 13, the unmanned plane
2 wireless signals for having specific frequency with the wheelchair 3 are associated, and after the completion of association, the unmanned plane 2 is logical with the wheelchair 3
Cross above-mentioned specific frequency and carry out synchronizing information, the signal interference that will not be so sent by remaining unmanned plane.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, it should all be included within the scope of the present invention.
Claims (10)
1. a kind of cloud for wheelchair simulates intelligent barrier avoiding system, including：Cloud processor, unmanned plane, wheelchair, the wheelchair include
Processing unit, motor, the first camera, the unmanned plane include cpu chip, camera, the cloud processor and institute
State processing unit and the cpu chip data syn-chronization, it is characterised in that：First camera is used to shoot real around wheelchair
When image, and transmit to the cloud processor, described four faces of camera and be both provided with second camera, the camera
The cloud processor is synchronized to for shooting real-time street view, and by the real-time street view, the cloud processor includes three-dimensional live
Analog module, computing module, the three-dimensional live analog module are used for according to first camera and second shooting
The three-dimensional live that the image simulation of head shooting goes out in the wheelchair and the unmanned plane visual range, the computing module calculate
The distance of wheelchair barrier into the three-dimensional live, the cloud processor is provided with the first pre-determined distance, at the cloud
When reason device judges the wheelchair obstacle distance is not more than first pre-determined distance into the three-dimensional live, the cloud is handled
Device instructs to the processing unit synchronous communicating, and the processing unit sends commutation letter according to commutation instruction to the motor
Number, the motor drives wheelchair adjustment direction according to the commutation signal.
2. a kind of cloud for wheelchair according to claim 1 simulates intelligent barrier avoiding system, it is characterised in that：Described first
Camera shoots the positive real-time imaging of wheelchair, and the cpu chip is by the image transmission to the cloud processor, the three-dimensional
Outdoor scene analog module simulates the first visual angle of user vision according to the real-time imaging and the second camera filmed image
Image, the cloud processor judge whether front has barrier according to first visual angle visual pattern.
3. a kind of cloud for wheelchair according to claim 2 simulates intelligent barrier avoiding system, it is characterised in that：When object exists
Front in the visual pattern of first visual angle, which stops, exceedes preset time, then the cloud processor judges the object to be quiet
Only barrier；When object, movement exceedes preset time in the visual pattern of first visual angle, then the cloud processor judges institute
It is moving obstacle to state object.
4. a kind of cloud for wheelchair according to claim 3 simulates intelligent barrier avoiding system, it is characterised in that：When the cloud
When processor judges the barrier for stationary obstruction, the cloud processor instructs to the processing unit synchronous communicating, institute
State processing unit and send commutation signal to the motor, the motor drives wheelchair to change according to the commutation signal
To.
5. a kind of cloud for wheelchair according to claim 3 simulates intelligent barrier avoiding system, it is characterised in that：The wheelchair
Front is additionally provided with the 3rd camera, when the cloud processor judges the barrier for moving obstacle, the processing dress
Put control the 3rd camera to lock the barrier and absorb real-time imaging, the cloud processor judges the moving disorder
The moving direction of thing, the computing module calculate the moving obstacle to the distance of the wheelchair, the cloud processor according to
Whether the real-time imaging, the moving direction, the Distance Judgment need to send commutation signal under current state.
6. a kind of cloud for wheelchair according to claim 1 simulates intelligent barrier avoiding system, it is characterised in that：When the drive
When dynamic motor drives the wheelchair commutation, the cloud processor simulates commutation circuit according to the three-dimensional live.
7. a kind of cloud for wheelchair according to claim 1 simulates intelligent barrier avoiding system, it is characterised in that：At the cloud
Reason device judges to whether there is unsafe condition in the range of the wheelchair surrounding according to the three-dimensional live figure, if so, then to the place
Manage device and send Emergency avoidance instruction, the Emergency avoidance instruction is the first Priority Directive, and the processing unit is according to described tight
Anxious to avoid instruction to motor transmission Emergency avoidance signal, the motor is according to controlling Emergency avoidance signal
Wheelchair carries out Emergency avoidance.
8. a kind of cloud for wheelchair according to claim 1 simulates intelligent avoidance system, it is characterised in that：It is described nobody
Machine is shared unmanned plane, and the unmanned plane has positioner, and the positioner is used to position, and the cpu chip will be described fixed
Position device positioning is sent to the cloud processor.
9. a kind of cloud for wheelchair according to claim 8 simulates intelligent avoidance system, it is characterised in that：The wheelchair
User port is additionally provided with, the positioning is sent to the user port, user and selected by user port by the cloud processor
Select unmanned plane.
10. a kind of cloud for wheelchair according to claim 9 simulates intelligent avoidance system, it is characterised in that：The nothing
Man-machine to be provided with wireless device with the wheelchair, when the unmanned plane reaches customer location, the unmanned plane leads to the wheelchair
Cross wireless device association.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967437.6A CN107684493B (en) | 2017-10-17 | 2017-10-17 | Cloud simulation intelligent obstacle avoidance system for wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967437.6A CN107684493B (en) | 2017-10-17 | 2017-10-17 | Cloud simulation intelligent obstacle avoidance system for wheelchair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107684493A true CN107684493A (en) | 2018-02-13 |
| CN107684493B CN107684493B (en) | 2020-05-19 |
Family
ID=61153901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710967437.6A Expired - Fee Related CN107684493B (en) | 2017-10-17 | 2017-10-17 | Cloud simulation intelligent obstacle avoidance system for wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107684493B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814912A (en) * | 2018-04-23 | 2018-11-16 | 苏州登阳信息技术有限公司 | A kind of intelligent barrier avoiding system based on multi-vision visual measurement |
| CN112789020A (en) * | 2019-02-13 | 2021-05-11 | 苏州金瑞麒智能科技有限公司 | Visualization method and system for intelligent wheelchair |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102895092A (en) * | 2011-12-13 | 2013-01-30 | 冷春涛 | Multi-sensor integration based three-dimensional environment identifying system for walker aid robot |
| CN105823478A (en) * | 2016-03-14 | 2016-08-03 | 武汉卓拔科技有限公司 | Autonomous obstacle avoidance navigation information sharing and using method |
| CN106325290A (en) * | 2016-09-30 | 2017-01-11 | 北京奇虎科技有限公司 | Monitoring system and device based on unmanned aerial vehicle |
| CN106774221A (en) * | 2017-01-22 | 2017-05-31 | 江苏中科院智能科学技术应用研究院 | A kind of unmanned plane cooperates patrol system and method with unmanned vehicle |
-
2017
- 2017-10-17 CN CN201710967437.6A patent/CN107684493B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102895092A (en) * | 2011-12-13 | 2013-01-30 | 冷春涛 | Multi-sensor integration based three-dimensional environment identifying system for walker aid robot |
| CN105823478A (en) * | 2016-03-14 | 2016-08-03 | 武汉卓拔科技有限公司 | Autonomous obstacle avoidance navigation information sharing and using method |
| CN106325290A (en) * | 2016-09-30 | 2017-01-11 | 北京奇虎科技有限公司 | Monitoring system and device based on unmanned aerial vehicle |
| CN106774221A (en) * | 2017-01-22 | 2017-05-31 | 江苏中科院智能科学技术应用研究院 | A kind of unmanned plane cooperates patrol system and method with unmanned vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814912A (en) * | 2018-04-23 | 2018-11-16 | 苏州登阳信息技术有限公司 | A kind of intelligent barrier avoiding system based on multi-vision visual measurement |
| CN112789020A (en) * | 2019-02-13 | 2021-05-11 | 苏州金瑞麒智能科技有限公司 | Visualization method and system for intelligent wheelchair |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107684493B (en) | 2020-05-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102520723B (en) | Wheelchair indoor global video monitor navigation system based on suspended wireless transmission camera | |
| CN107515606A (en) | Robot implementation method, control method and robot, electronic equipment | |
| CN109333506A (en) | A kind of humanoid intelligent robot system | |
| US20150245962A1 (en) | Passenger carrying mobile robot | |
| CN105955279B (en) | A kind of method for planning path for mobile robot and device based on image vision | |
| CN103170973A (en) | Man-machine cooperation device and method based on Kinect video camera | |
| CN103092349A (en) | Panoramic experience method based on Kinect somatosensory equipment | |
| CN112248835B (en) | Charging mechanical arm control method and system | |
| CN107684493A (en) | A kind of cloud for wheelchair simulates intelligent barrier avoiding system | |
| CN106726209A (en) | A kind of method for controlling intelligent wheelchair based on brain-computer interface Yu artificial intelligence | |
| CN105681747A (en) | Telepresence interaction wheelchair | |
| CN207292469U (en) | Multi-pose sensor cradle head device, camera and unmanned plane during flying device | |
| CN205485455U (en) | Vehicle chassis inspection robot control system | |
| CN106774343A (en) | A kind of pilotless automobile transported for wounded's rescue | |
| CN207281590U (en) | A kind of intelligence blind-guidance robot device | |
| CN106215427B (en) | Can remote control the first visual angle model racing car control loop | |
| CN108646730A (en) | A kind of service robot and its multiple target autonomous cruise method based on ROS | |
| Almeida et al. | Be the robot: Human embodiment in tele-operation driving tasks | |
| CN113085896A (en) | Auxiliary automatic driving system and method for modern rail cleaning vehicle | |
| CN106095107A (en) | A kind of gesture interaction control method being applied to intelligent mobile wheelchair | |
| CN108153301A (en) | One kind is based on polar intelligent barrier avoiding system | |
| CN101849849B (en) | Device for intellectualized monitoring of surgical grinding tool | |
| WO2016163035A1 (en) | Mobile chassis control interface | |
| CN210067554U (en) | Intelligent swimming pool | |
| CN107756406A (en) | A kind of explosive-removal robot control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ji Xiaojing Inventor after: Wang Hui Inventor after: Liu Juan Inventor after: Yu Dong Inventor before: Yu Dong |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200424 Address after: 252000 Department of Urology, Liaocheng people's Hospital, No. 67, Dongchang West Road, Dongchangfu District, Liaocheng City, Shandong Province Applicant after: Ji Xiaojing Applicant after: Wang Hui Applicant after: Liu Juan Address before: 215400 Taicang Economic Development Zone, Jiangsu, Beijing West Road, No. 6, No. Applicant before: SUZHOU CHENGMAN INFORMATION TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200519 Termination date: 20201017 |